Versatile mobile platform
Provided is a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor effectuates operations including: capturing, with at least one exteroceptive sensor, readings of an environment and capturing, with at least one proprioceptive sensor, readings indicative of displacement of a wheeled device; estimating, with the processor using an ensemble of simulated positions of possible new locations of the wheeled device, the readings of the environment, and the readings indicative of displacement, a corrected position of the wheeled device to replace a last known position of the wheeled device; determining, by the processor using the readings of the exteroceptive sensor, a most feasible position of the wheeled device as the corrected position; and, transmitting, by the processor, status information of tasks performed by the wheeled device to an external processor, wherein the status information initiates a second wheeled device to perform a second task.
1. A wheeled device, comprising:
a chassis;
a set of wheels coupled to the chassis;
one or more electric motors for rotating the set of wheels;
a plurality of modules for performing work coupled to the chassis;
a processor electronically coupled to a plurality of sensors, including at least one exteroceptive sensor and at least one proprioceptive sensor; and
a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
capturing, with the at least one exteroceptive sensor, readings of the environment and capturing, with the at least one proprioceptive sensor, readings indicative of displacement of the wheeled device;
estimating, with the processor using an ensemble of simulated positions of possible new locations of the wheeled device, the readings of the environment, and the readings indicative of displacement, a corrected position of the wheeled device to replace a last known position of the wheeled device, wherein:
the processor loses or reduces knowledge of a current position of the wheeled device in relation to a global frame of reference of the environment of the wheeled device due to drift or slippage not reliably recordable by the at least one proprioceptive sensor when the wheeled device moves along a path from the last known position to a new intended position while performing a first task; and
the processor estimates each simulated position by adding the readings captured by the at least one proprioceptive sensor to the last known position and at least one possible variation of error in the readings indicative of displacement of the wheeled device captured with the at least one proprioceptive sensor;
determining, by the processor using the readings of the exteroceptive sensor, a most feasible position of the wheeled device as the corrected position; and
transmitting, by the processor, status information of one or more tasks performed by the wheeled device to an external processor, wherein the status information initiates a second wheeled device to perform a second task.
2. The wheeled device of claim 1 , wherein the external processor is a processor residing in one or more of: the second wheeled device, a computing device, or cloud storage.
3. The wheeled device of claim 1 , wherein at least some data processing associated with the readings of the plurality of sensors is offloaded to cloud storage.
4. The wheeled device of claim 1 , wherein the wheeled device and the second wheeled device collaborate to complete the first and second tasks.
5. The wheeled device of claim 1 , wherein initiating the second wheeled device to perform the second task occurs after the wheeled device completes the first task.
6. The wheeled device of claim 1 , wherein the plurality of modules comprises one or more of: a speaker module, a UV module, a compressor module, a dispensing module, an air pressure reduction and addition module, a brush module, a fluid module, a cloth module, a steam module, a dust collection module, a cleaning module, a mopping module, a supply carrying module, a material collection module, and a service performing module.
7. The wheeled device of claim 6 , wherein the supply carrying module comprises one or more of: a module for carrying a battery, a module for delivery of electricity, a module for transmission of an electrical signal, and a module for delivery of food.
8. The wheeled device of claim 7 , wherein the supply carrying module is capable of performing at least some processing, wherein the processing comprises charging the battery, strengthening the electrical signal, or heating or cooking the food.
9. The wheeled device of claim 6 , wherein the supply carrying module is capable of dispensing supply.
10. The wheeled device of claim 9 , wherein the supply comprises a solid, a fluid, or a gas.
11. The wheeled device of claim 10 , wherein at least the wheeled device is capable of using the gas to inflate a tire.
12. The wheeled device of claim 10 , wherein at least the wheeled device is capable of using the gas or fluid to power wash a floor of the environment.
13. The wheeled device of claim 10 , wherein the solid comprises a print receipt.
14. The wheeled device of claim 10 , wherein the solid comprises cash for an ATM machine.
15. The wheeled device of claim 10 , wherein the fluid comprises paint, detergent, water, or hydrogen peroxide.
16. The wheeled device of claim 6 , wherein the supply carrying module generates supply from a plurality of materials.
17. The wheeled device of claim 6 , wherein the supply carrying module is capable of carrying supply comprising one or more of: a food tray, a medical patient, food, liquid, medication, gasoline, a power supply, and a passenger.
18. The wheeled device of claim 6 , wherein the supply carrying module comprises a module for heating or cooking a pizza for delivery.
19. The wheeled device of claim 6 , wherein the service performing module is capable of repeating an electrical signal.
20. The wheeled device of claim 6 , wherein the service performing module is capable of transforming H 2 O into H 2 O 2 .
21. The wheeled device of claim 6 , wherein the service performing module is capable of trimming grass.
22. The wheeled device of claim 6 , wherein the material collection module is capable of collecting tennis balls.
23. The wheeled device of claim 6 , wherein the material collection module is capable of collecting dust or debris.
24. The wheeled device of claim 4 , wherein the first and second tasks are complementary tasks.
25. The wheeled device of claim 24 , wherein the processor of the wheeled device or the external processor of the wheeled device and a processor of the second wheeled device divide the environment into subareas to complete the complementary task.
26. The wheeled device of claim 4 , wherein the wheeled device and the second wheeled device collaborate by one wheeled device following a same path as the other wheeled device while completing the first and second tasks.
27. The wheeled device of claim 26 , wherein the first and second tasks comprise sweeping and mopping the environment.
28. The wheeled device of claim 1 , wherein the processor effectuates the operations using only the readings captured by the at least one proprioceptive sensor if the processor determines that the readings captured by the at least one exteroceptive sensor are unreliable.
29. A tangible, non-transitory, machine readable medium storing instructions that when executed by a processor effectuates operations comprising:
capturing, with at least one exteroceptive sensor, readings of an environment and capturing, with at least one proprioceptive sensor, readings indicative of displacement of a wheeled device;
estimating, with the processor using an ensemble of simulated positions of possible new locations of the wheeled device, the readings of the environment, and the readings indicative of displacement, a corrected position of the wheeled device to replace a last known position of the wheeled device, wherein:
the processor loses or reduces knowledge of a current position of the wheeled device in relation to a global frame of reference of the environment of the wheeled device due to drift or slippage not reliably recordable by the at least one proprioceptive sensor when the wheeled device moves along a path from the last known position to a new intended position while performing a first task; and,
the processor estimates each simulated position by adding the readings captured by the at least one proprioceptive sensor to the last known position and at least one possible variation of error in the readings indicative of displacement of the wheeled device captured with the at least one proprioceptive sensor;
determining, by the processor using the readings of the exteroceptive sensor, a most feasible position of the wheeled device as the corrected position; and,
transmitting, by the processor, status information of tasks performed by the wheeled device to an external processor, wherein the status information initiates a second wheeled device to perform a second task.